Adding Force Feedback to Adding Force Feedback to Graphics Systems: Issues and Graphics Systems: Issues and

SolutionsSolutionsWilliam Mark, Scott Randolph, Mark Finch, William Mark, Scott Randolph, Mark Finch,

James Van Verth and Russell TaylorJames Van Verth and Russell Taylor

Proceedings of the 23rd Annual Conference on Proceedings of the 23rd Annual Conference on Computer Graphics and Interactive Techniques Computer Graphics and Interactive Techniques

(1996)(1996)Presented byPresented by

Chris CovingtonChris Covington

Force FeedbackForce Feedback

Simulates application of forces Simulates application of forces through a tactile (touch) interface or through a tactile (touch) interface or device.device.

Types of Force FeedbackTypes of Force Feedback

Non-interactive: Non-interactive: Video game Video game controllers, cell controllers, cell phones.phones.

Interactive/Interactive/restrictive: Tele-restrictive: Tele-operation devices operation devices (PHANTOM).(PHANTOM).

Why Add Force FeedbackWhy Add Force Feedback

Provides an additional sensory channel Provides an additional sensory channel (haptic) for sending information.(haptic) for sending information.

Overloading a sensory channel (e.g. Overloading a sensory channel (e.g. visual or auditory) can cause visual or auditory) can cause disorientation or loss of conveyed disorientation or loss of conveyed information.information.

More intuitive to perceive certain More intuitive to perceive certain stimuli by touch.stimuli by touch.

Feedback System ConcernsFeedback System Concerns

Maintain high update frequency.Maintain high update frequency. Minimize artifacts and aliasing.Minimize artifacts and aliasing. Support different feedback devices Support different feedback devices

transparently.transparently. Easily integrated with overall system.Easily integrated with overall system.

Latency and Update FrequencyLatency and Update Frequency

High latency causes inconsistent High latency causes inconsistent tactile feedback.tactile feedback.

Disorientation and frustration is Disorientation and frustration is possible if tactile sensations do not possible if tactile sensations do not correspond to visuals or acoustics.correspond to visuals or acoustics.

Force feedback devices may lose Force feedback devices may lose their “grip” unless they are their “grip” unless they are refreshed.refreshed.

Artifacts and AliasingArtifacts and Aliasing

Occurs when force feedback does not Occurs when force feedback does not match overall simulation.match overall simulation.

Feedback results should be Feedback results should be consistent and repeatable.consistent and repeatable.

Can be caused by different update Can be caused by different update frequencies between haptic, visual frequencies between haptic, visual and auditory systems.and auditory systems.

Transparent Device SupportTransparent Device Support

Different types of devices have Different types of devices have different capabilities.different capabilities.

Similar devices should act the same Similar devices should act the same when interacting with the same when interacting with the same system.system.

System IntegrationSystem Integration

Integration should be easy and non-Integration should be easy and non-intrusive.intrusive.

Force Feedback ModelsForce Feedback Models

Plane and ProbePlane and Probe Surface Friction and TextureSurface Friction and Texture Multiple PlanesMultiple Planes Multiple ProbesMultiple Probes Point-to-point SpringsPoint-to-point Springs Multiple SpringsMultiple Springs

Plane and ProbePlane and Probe

Spring forces are applied Spring forces are applied to simulate different to simulate different surfaces.surfaces.

Higher spring constants Higher spring constants correspond to denser correspond to denser surfaces.surfaces.

Forces are always Forces are always perpendicular to the plane.perpendicular to the plane.

Plane is constantly Plane is constantly adjusted to provide adjusted to provide different surface tangents.different surface tangents.

Surface Friction and TextureSurface Friction and Texture

Simulates friction Simulates friction and texture and texture through staggered through staggered movement.movement.

Accomplished Accomplished through “snag” through “snag” distribution over distribution over the simulated the simulated surface.surface.

Multiple PlanesMultiple Planes

Difficult to provide feedback for Difficult to provide feedback for sharp corners using only a single sharp corners using only a single plane.plane.

Multiple planes can provide smooth Multiple planes can provide smooth transition between surfaces and transition between surfaces and higher definition objects.higher definition objects.

Multiple ProbesMultiple Probes

Provides multiple Provides multiple points of contact.points of contact.

Necessary for more Necessary for more complex forms of complex forms of manipulations.manipulations.

More complex, More complex, since each probe since each probe may interact with a may interact with a different surface.different surface.

Point-to-point SpringsPoint-to-point Springs

Allows objects to be Allows objects to be picked up and picked up and dragged as well as dragged as well as pushed.pushed.

Complex spring Complex spring evaluations limit the evaluations limit the update frequency.update frequency.

Could provide Could provide viscosity simulation.viscosity simulation.

Multiple springs can Multiple springs can provide torque provide torque simulation.simulation.

Preventing Force DiscontinuityPreventing Force Discontinuity

Maintain high Maintain high enough frequency enough frequency to accommodate to accommodate extreme motions.extreme motions.

Provide Provide progressive progressive recovery of recovery of embedded probes.embedded probes.

ArmlibArmlib

Device Device independent API independent API for force feedback for force feedback solutions.solutions.

Uses TCP for Uses TCP for command passing command passing and UDP for and UDP for feedback passing.feedback passing.

Post-Paper WorkPost-Paper Work

Kitamura, Yoshifumi et al. “Object Deformation and Kitamura, Yoshifumi et al. “Object Deformation and Force Feedback for Virtual Chopsticks” (2005). Force Feedback for Virtual Chopsticks” (2005). Proceedings of the ACM Symposium on Virtual Reality Proceedings of the ACM Symposium on Virtual Reality Software and Technology: 211-219.Software and Technology: 211-219.

Choi, Sam-ha, hee-Dong Chang and Kyung-Sik Kim. Choi, Sam-ha, hee-Dong Chang and Kyung-Sik Kim. “Development of Force Feedback Device for PC-Game “Development of Force Feedback Device for PC-Game Using Vibration” (2004). Proceedings of the 2004 ACM Using Vibration” (2004). Proceedings of the 2004 ACM SIGCHI International Conference on Advances in SIGCHI International Conference on Advances in Computer Entertainment Technology: 325-330.Computer Entertainment Technology: 325-330.

Klatzky, Roberta and Susan Lederman. “The Klatzky, Roberta and Susan Lederman. “The Perceived Roughness of Resistive Virtual Textures: I. Perceived Roughness of Resistive Virtual Textures: I. Rendering by a Force Feedback Mouse” (2006). ACM Rendering by a Force Feedback Mouse” (2006). ACM Transactions on Applied Perception, Vol. 3-1: 1-14.Transactions on Applied Perception, Vol. 3-1: 1-14.